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<div class="title">permutohedral.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_ML_PERMUTOHEDRAL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_ML_PERMUTOHEDRAL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#pragma GCC system_header </span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;boost/intrusive/hashtable.hpp&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// TODO: SWAP with Boost intrusive hash table</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;cstdlib&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;cstring&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;cstdio&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html">   70</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_permutohedral.html">Permutohedral</a></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1_permutohedral_1_1_neighbors.html">   73</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_permutohedral_1_1_neighbors.html">Neighbors</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordtype">int</span> n1, n2;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <a class="code" href="structpcl_1_1_permutohedral_1_1_neighbors.html">Neighbors</a> (<span class="keywordtype">int</span> n1 = 0, <span class="keywordtype">int</span> n2 = 0) : n1 (n1), n2 (n2) {}</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      };</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#a366a22dd6f81b73c0fe71b6d6dd2add1">   82</a></span>&#160;      <a class="code" href="classpcl_1_1_permutohedral.html#a366a22dd6f81b73c0fe71b6d6dd2add1">Permutohedral</a> ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#aa69d79a792414e945a9e627d865289b1">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_permutohedral.html#aa69d79a792414e945a9e627d865289b1">~Permutohedral</a> () {};</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#adfe751483f223e7bd4ad001e381fae69">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_permutohedral.html#adfe751483f223e7bd4ad001e381fae69">init</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;feature, <span class="keyword">const</span> <span class="keywordtype">int</span> feature_dimension, <span class="keyword">const</span> <span class="keywordtype">int</span> N);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      compute (std::vector&lt;float&gt; &amp;out, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;in, </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;               <span class="keywordtype">int</span> value_size, </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;               <span class="keywordtype">int</span> in_offset=0, <span class="keywordtype">int</span> out_offset=0, </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;               <span class="keywordtype">int</span> in_size = -1, <span class="keywordtype">int</span> out_size = -1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      initOLD (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;feature, <span class="keyword">const</span> <span class="keywordtype">int</span> feature_dimension, <span class="keyword">const</span> <span class="keywordtype">int</span> N);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      computeOLD (std::vector&lt;float&gt; &amp;out, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;in, </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                  <span class="keywordtype">int</span> value_size, </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                  <span class="keywordtype">int</span> in_offset=0, <span class="keywordtype">int</span> out_offset=0, </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                  <span class="keywordtype">int</span> in_size = -1, <span class="keywordtype">int</span> out_size = -1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      debug ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="comment">// Pseudo radnom generator</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">inline</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">size_t</span> generateHashKey (<span class="keyword">const</span> std::vector&lt;short&gt; &amp;k) </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">size_t</span> r = 0;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_permutohedral.html#ac7f9c2d1f59cf6bb93d79fe04af0593a">d_</a>; i++)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          r += k[i];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          r *= 1664525;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="comment">//r *= 5;</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">return</span> r;<span class="comment">// % (2* N_ * (d_+1));</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#a457ac8af6e79e388b26948c273193c30">  125</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_permutohedral.html#a457ac8af6e79e388b26948c273193c30">N_</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      std::vector&lt;Neighbors&gt; blur_neighbors_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#a37a9a9d00ef2c05c66a85f610a6bc53c">  130</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_permutohedral.html#a37a9a9d00ef2c05c66a85f610a6bc53c">M_</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_permutohedral.html#ac7f9c2d1f59cf6bb93d79fe04af0593a">  133</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_permutohedral.html#ac7f9c2d1f59cf6bb93d79fe04af0593a">d_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      std::vector&lt;float&gt; offset_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      std::vector&lt;float&gt; offsetTMP_;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      std::vector&lt;float&gt; barycentric_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <a class="code" href="structpcl_1_1_permutohedral_1_1_neighbors.html">Neighbors</a> * blur_neighborsOLD_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">int</span> * offsetOLD_;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">float</span> * barycentricOLD_;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      std::vector&lt;float&gt; baryOLD_;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW      </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  };</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_hash_table_o_l_d.html">  149</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_hash_table_o_l_d.html">HashTableOLD</a></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// Don&#39;t copy!</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <a class="code" href="classpcl_1_1_hash_table_o_l_d.html">HashTableOLD</a>( <span class="keyword">const</span> <a class="code" href="classpcl_1_1_hash_table_o_l_d.html">HashTableOLD</a> &amp; o ): key_size_ ( o.key_size_ ), filled_(0), capacity_(o.capacity_) {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      table_ = <span class="keyword">new</span> <span class="keywordtype">int</span>[ capacity_ ];</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      keys_ = <span class="keyword">new</span> <span class="keywordtype">short</span>[ (capacity_/2+10)*key_size_ ];</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      memset( table_, -1, capacity_*<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>) );</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">size_t</span> key_size_, filled_, capacity_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">short</span> * keys_;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">int</span> * table_;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">void</span> grow(){</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;GROW&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="comment">// Swap out the old memory</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordtype">short</span> * old_keys = keys_;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">int</span> * old_table = table_;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordtype">int</span> old_capacity = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (capacity_);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      capacity_ *= 2;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">// Allocate the new memory</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      keys_ = <span class="keyword">new</span> <span class="keywordtype">short</span>[ (old_capacity+10)*key_size_ ];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      table_ = <span class="keyword">new</span> <span class="keywordtype">int</span>[ capacity_ ];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      memset( table_, -1, capacity_*<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>) );</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      memcpy( keys_, old_keys, filled_*key_size_*<span class="keyword">sizeof</span>(<span class="keywordtype">short</span>) );</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="comment">// Reinsert each element</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;old_capacity; i++ )</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">if</span> (old_table[i] &gt;= 0){</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordtype">int</span> e = old_table[i];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keywordtype">size_t</span> h = hash( old_keys+(getKey(e)-keys_) ) % capacity_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">for</span> (; table_[h] &gt;= 0; h = h&lt;capacity_-1 ? h+1 : 0) { };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          table_[h] = e;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">delete</span> [] old_keys;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">delete</span> [] old_table;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">size_t</span> hash( <span class="keyword">const</span> <span class="keywordtype">short</span> * k ) {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordtype">size_t</span> r = 0;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordflow">for</span>( <span class="keywordtype">size_t</span> i=0; i&lt;key_size_; i++ ){</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        r += k[i];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        r *= 1664525;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">return</span> r;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classpcl_1_1_hash_table_o_l_d.html">HashTableOLD</a>( <span class="keywordtype">int</span> key_size, <span class="keywordtype">int</span> n_elements ) : key_size_ ( key_size ), filled_(0), capacity_(2*n_elements) {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      table_ = <span class="keyword">new</span> <span class="keywordtype">int</span>[ capacity_ ];</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      keys_ = <span class="keyword">new</span> <span class="keywordtype">short</span>[ (capacity_/2+10)*key_size_ ];</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      memset( table_, -1, capacity_*<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>) );</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    ~<a class="code" href="classpcl_1_1_hash_table_o_l_d.html">HashTableOLD</a>() {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">delete</span> [] keys_;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">delete</span> [] table_;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">int</span> size()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (filled_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">void</span> reset() {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      filled_ = 0;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      memset( table_, -1, capacity_*<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>) );</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordtype">int</span> find( <span class="keyword">const</span> <span class="keywordtype">short</span> * k, <span class="keywordtype">bool</span> create = <span class="keyword">false</span> ){</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordflow">if</span> (2*filled_ &gt;= capacity_) grow();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="comment">// Get the hash value</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordtype">size_t</span> h = hash( k ) % capacity_;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="comment">// Find the element with he right key, using linear probing</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">while</span>(1){</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordtype">int</span> e = table_[h];</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">if</span> (e==-1){</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">if</span> (create){</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            <span class="comment">// Insert a new key and return the new id</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="keywordflow">for</span>( <span class="keywordtype">size_t</span> i=0; i&lt;key_size_; i++ )</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;              keys_[ filled_*key_size_+i ] = k[i];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="keywordflow">return</span> table_[h] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (filled_++);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="comment">// Check if the current key is The One</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordtype">bool</span> good = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordflow">for</span>( <span class="keywordtype">size_t</span> i=0; i&lt;key_size_ &amp;&amp; good; i++ )</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          <span class="keywordflow">if</span> (keys_[ e*key_size_+i ] != k[i])</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            good = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordflow">if</span> (good)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          <span class="keywordflow">return</span> e;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">// Continue searching</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        h++;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">if</span> (h==capacity_) h = 0;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">short</span> * getKey( <span class="keywordtype">int</span> i )<span class="keyword"> const</span>{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">return</span> keys_+i*key_size_;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  };</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">/*</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">  class HashTable</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="comment">    public:</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">      HashTable ( int N ) : N_ (2 * N) {};</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">      find (const std::vector&lt;short&gt; &amp;k, bool create = false;)</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">        </span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="comment">        </span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">      }</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">    protected:</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">      std::multimap&lt;size_t, int&gt; table_;</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">      std::vector&lt;std::vector&lt;short&gt; &gt; keys;</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">      //keys.reserve ( (d_+1) * N_ );</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="comment">      // number of elements</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="comment">      int N_;</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">  };*/</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;}</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_hash_table_o_l_d_html"><div class="ttname"><a href="classpcl_1_1_hash_table_o_l_d.html">pcl::HashTableOLD</a></div><div class="ttdef"><b>Definition:</b> permutohedral.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html"><div class="ttname"><a href="classpcl_1_1_permutohedral.html">pcl::Permutohedral</a></div><div class="ttdoc">Implementation of a high-dimensional gaussian filtering using the permutohedral lattice</div><div class="ttdef"><b>Definition:</b> permutohedral.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_a366a22dd6f81b73c0fe71b6d6dd2add1"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#a366a22dd6f81b73c0fe71b6d6dd2add1">pcl::Permutohedral::Permutohedral</a></div><div class="ttdeci">Permutohedral()</div><div class="ttdoc">Constructor for Permutohedral class</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_a37a9a9d00ef2c05c66a85f610a6bc53c"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#a37a9a9d00ef2c05c66a85f610a6bc53c">pcl::Permutohedral::M_</a></div><div class="ttdeci">int M_</div><div class="ttdoc">size of sparse discretized space</div><div class="ttdef"><b>Definition:</b> permutohedral.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_a457ac8af6e79e388b26948c273193c30"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#a457ac8af6e79e388b26948c273193c30">pcl::Permutohedral::N_</a></div><div class="ttdeci">int N_</div><div class="ttdoc">Number of variables</div><div class="ttdef"><b>Definition:</b> permutohedral.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_aa69d79a792414e945a9e627d865289b1"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#aa69d79a792414e945a9e627d865289b1">pcl::Permutohedral::~Permutohedral</a></div><div class="ttdeci">~Permutohedral()</div><div class="ttdoc">Deconstructor for Permutohedral class</div><div class="ttdef"><b>Definition:</b> permutohedral.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_ac7f9c2d1f59cf6bb93d79fe04af0593a"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#ac7f9c2d1f59cf6bb93d79fe04af0593a">pcl::Permutohedral::d_</a></div><div class="ttdeci">int d_</div><div class="ttdoc">dimension of feature</div><div class="ttdef"><b>Definition:</b> permutohedral.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_permutohedral_html_adfe751483f223e7bd4ad001e381fae69"><div class="ttname"><a href="classpcl_1_1_permutohedral.html#adfe751483f223e7bd4ad001e381fae69">pcl::Permutohedral::init</a></div><div class="ttdeci">void init(const std::vector&lt; float &gt; &amp;feature, const int feature_dimension, const int N)</div><div class="ttdoc">initialization</div></div>
<div class="ttc" id="astructpcl_1_1_permutohedral_1_1_neighbors_html"><div class="ttname"><a href="structpcl_1_1_permutohedral_1_1_neighbors.html">pcl::Permutohedral::Neighbors</a></div><div class="ttdef"><b>Definition:</b> permutohedral.h:74</div></div>
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